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1. EP3371014 - A CONTROL SYSTEM AND METHOD FOR AN ARTICULATED VEHICLE COMPRISING AN AUTONOMOUS EMERGENCY BRAKING SYSTEM

Office
European Patent Office
Application Number 16790603
Application Date 02.11.2016
Publication Number 3371014
Publication Date 12.09.2018
Publication Kind B1
IPC
B60T 8/17
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
B60T 8/24
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
24responsive to vehicle inclination or change of direction, e.g. negotiating bends
CPC
B60T 7/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
7Brake-action initiating means
12for automatic initiation; for initiation not subject to will of driver or passenger
20specially for trailers, e.g. in case of uncoupling of ; or overrunning by; trailer
B60T 8/1708
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17Using electrical or electronic regulation means to control braking
1701Braking or traction control means specially adapted for particular types of vehicles
1708for lorries or tractor-trailer combinations
B60T 8/248
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
8Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
24responsive to vehicle inclination or change of direction, e.g. negotiating bends
248Trailer sway, e.g. for preventing jackknifing
B60T 2201/16
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
2201Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
16Curve braking control, e.g. turn control within ABS control algorithm
B60T 2230/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
2230Monitoring, detecting special vehicle behaviour; Counteracting thereof
06Tractor-trailer swaying
B60T 2240/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL
2240Monitoring, detecting wheel/tire behaviour; counteracting thereof
06Wheel load; Wheel lift
Applicants VOLVO TRUCK CORP
Inventors LAINE LEO
SANDBLOM FREDRIK
Designated States
Priority Data 2015075623 03.11.2015 EP
Title
(DE) STEUERUNGSSYSTEM UND -VERFAHREN FÜR EIN GELENKFAHRZEUG MIT AUTONOMEM NOTBREMSSYSTEM
(EN) A CONTROL SYSTEM AND METHOD FOR AN ARTICULATED VEHICLE COMPRISING AN AUTONOMOUS EMERGENCY BRAKING SYSTEM
(FR) SYSTÈME ET PROCÉDÉ DE COMMANDE POUR UN VÉHICULE ARTICULÉ COMPRENANT UN SYSTÈME DE FREINAGE D'URGENCE AUTONOME
Abstract
(EN)
The invention relates to a control system (26) for an articulated vehicle (10) comprising a towing vehicle (12), a trailer (14) and an autonomous emergency braking system (24), wherein the control system comprises: brake control means (29) adapted to apply a friction-estimating braking; brake force capacity estimation means (40) adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; axle load estimation means (32) adapted to estimate the normal force on each wheel axle (20a-c, 22a-b) of the vehicle; friction estimation means (30) adapted to estimate a friction coefficient based on the estimated brake force capacity and at least one of the estimated normal forces; and brake strategy adaptation means (34) configured to adapt the brake strategy of the autonomous emergency braking system by adjusting the brake force for at least one wheel axle of the vehicle based on the estimated friction coefficient and the at least one wheel axle's estimated normal force.

(FR)
La présente invention concerne un système de commande (26) pour un véhicule articulé (10) comprenant un véhicule de remorquage (12), une remorque (14) et un système de freinage d’urgence autonome (24), le système de commande comprenant : des moyens de commande de freinage (29) adaptés pour appliquer un freinage d’estimation de frottement ; des moyens d’estimation de capacité de force de freinage (40) adaptés pour estimer la capacité de force de freinage du véhicule en fonction du patinage de roue longitudinal sur la base du freinage d’estimation de frottement appliqué ; des moyens d’estimation de charge d’essieu (32) adaptés pour estimer la force normale sur chaque essieu de roue (20a-c, 22a-b) du véhicule ; des moyens d’estimation de frottement (30) adaptés pour estimer un coefficient de frottement sur la base de la capacité de force de freinage estimer et d’au moins une des forces normales estimées ; et des moyens d’adaptation de stratégie de freinage (34) configurés pour adapter la stratégie de freinage du système de freinage d’urgence autonome par ajustement de la force de freinage pour au moins un essieu de roue du véhicule sur la base du coefficient de frottement estimé et d’au moins une force normale estimée d’essieu de roue.

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